Output saturation in electric motor systems / Kyoungchul Kong in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 5 (Septembre 2010)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 5 (Septembre 2010) . - 08 p. Titre : Output saturation in electric motor systems : identification and controller design Type de document : texte imprimé Auteurs : Kyoungchul Kong, Auteur ; Helge C. Kniep, Auteur ; Tomizuka, Masayoshi, Auteur Année de publication : 2010 Article en page(s) : 08 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Angular velocity Ball bearings Brushless DC motors Control system synthesis Design Kalman filters Machine control windings Three-term Index. décimale : 629.8 Résumé : Input saturation is a well-known nonlinearity in mechanical control systems; it constrains the maximum acceleration, which results in the limitation of the system response time. Input saturation has been considered in controller design in various ways, e.g., antiwindup control. In addition to the input, the state variables of mechanical systems are often subjected to saturation. For example, the maximum angular velocity of electric motor systems is limited by the maximum voltage provided to the motor windings. In the case of electronically commutated motors (i.e., brushless dc motors), the maximum speed is additionally constrained by limitations of the servo amplifier output. If gears are utilized, further constraints are introduced due to resonances in ball bearings and/or velocity dependent friction. Although such factors are significant in practice, they have not been fully considered in controller design. This paper investigates the input and output saturations, and presents how they may be considered in the controller design; a Kalman filter, a PID controller, and a disturbance observer are designed, taking input/output saturations into consideration. A case study is provided to verify the proposed methods. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Output saturation in electric motor systems : identification and controller design [texte imprimé] / Kyoungchul Kong, Auteur ; Helge C. Kniep, Auteur ; Tomizuka, Masayoshi, Auteur . - 2010 . - 08 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 5 (Septembre 2010) . - 08 p. Mots-clés : Angular velocity Ball bearings Brushless DC motors Control system synthesis Design Kalman filters Machine control windings Three-term Index. décimale : 629.8 Résumé : Input saturation is a well-known nonlinearity in mechanical control systems; it constrains the maximum acceleration, which results in the limitation of the system response time. Input saturation has been considered in controller design in various ways, e.g., antiwindup control. In addition to the input, the state variables of mechanical systems are often subjected to saturation. For example, the maximum angular velocity of electric motor systems is limited by the maximum voltage provided to the motor windings. In the case of electronically commutated motors (i.e., brushless dc motors), the maximum speed is additionally constrained by limitations of the servo amplifier output. If gears are utilized, further constraints are introduced due to resonances in ball bearings and/or velocity dependent friction. Although such factors are significant in practice, they have not been fully considered in controller design. This paper investigates the input and output saturations, and presents how they may be considered in the controller design; a Kalman filter, a PID controller, and a disturbance observer are designed, taking input/output saturations into consideration. A case study is provided to verify the proposed methods. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

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